TY - GEN
T1 - String of Drones for Load Carrying
AU - Arogeti, Shai
AU - Yehezkel, Dolev
N1 - Publisher Copyright: © 2018 IEEE.
PY - 2018/8/31
Y1 - 2018/8/31
N2 - Carrying a load by a group of drones can be done in different configurations, which may also be changed during flight. There are many considerations when planning the applied configuration; most importantly, the number of drones should fit the weight of the load. Energy is a critical factor, because of its influence on the flight range. Previous configurations presented in literature include counteracting carrying forces, which deteriorate energy efficiency. To prevent this, we propose an innovative carrying configuration that is based on a string of drones. Each drone is connected to the drone below, by a cable, and the lowest drone is connected with the load. The paper deals with a point-load carried by a string of n drones. It shows the development of the group's equations of motion, and the design of a control law that allows the load to track a desired trajectory.
AB - Carrying a load by a group of drones can be done in different configurations, which may also be changed during flight. There are many considerations when planning the applied configuration; most importantly, the number of drones should fit the weight of the load. Energy is a critical factor, because of its influence on the flight range. Previous configurations presented in literature include counteracting carrying forces, which deteriorate energy efficiency. To prevent this, we propose an innovative carrying configuration that is based on a string of drones. Each drone is connected to the drone below, by a cable, and the lowest drone is connected with the load. The paper deals with a point-load carried by a string of n drones. It shows the development of the group's equations of motion, and the design of a control law that allows the load to track a desired trajectory.
KW - multiple drone control
KW - quadcopter
KW - string of drones
KW - suspended load
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85053928054&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/ICUAS.2018.8453312
DO - https://doi.org/10.1109/ICUAS.2018.8453312
M3 - Conference contribution
SN - 9781538613535
T3 - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
SP - 1199
EP - 1206
BT - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
T2 - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Y2 - 12 June 2018 through 15 June 2018
ER -